JPH0621791B2 - Land vehicle position measuring method and device - Google Patents
Land vehicle position measuring method and deviceInfo
- Publication number
- JPH0621791B2 JPH0621791B2 JP58503421A JP50342183A JPH0621791B2 JP H0621791 B2 JPH0621791 B2 JP H0621791B2 JP 58503421 A JP58503421 A JP 58503421A JP 50342183 A JP50342183 A JP 50342183A JP H0621791 B2 JPH0621791 B2 JP H0621791B2
- Authority
- JP
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- Prior art keywords
- wheels
- vehicle
- correction
- traveling direction
- rotations
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
- G01C22/02—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers by conversion into electric waveforms and subsequent integration, e.g. using tachometer generator
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
- G01C22/02—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers by conversion into electric waveforms and subsequent integration, e.g. using tachometer generator
- G01C22/025—Differential odometers
-
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K15/00—Arrangements for producing a permanent visual presentation of the output data, e.g. computer output printers
-
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K2215/00—Arrangements for producing a permanent visual presentation of the output data
- G06K2215/0082—Architecture adapted for a particular function
- G06K2215/0088—Collated printing
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Platform Screen Doors And Railroad Systems (AREA)
- Steering Controls (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
Description
【発明の詳細な説明】 陸上の車両の目標追跡または位置測定のための方法およ
び装置は、既に種々のものが公知である。ドイツ連邦共
和国特許出願公開第２９２５６５６号公報には、例え
ば、実質的に車両に対して独立な方式を用いての、著し
く網目化された都市道路網における車両の目標追跡また
は位置測定のための方法が記載されている。道路網の所
定の個所において、車両と市街設置局との間で情報が交
換される。これらの情報により、車両内の搭載計算器
が、車両の位置および方向の測定を行うことが可能にな
る。ひきつづいての走行距離およびひきつづいての走行
方向も、車輪の回転状態の検出および評価により求めら
れる。走行角度および走行区間を測定するための方法お
よび装置は、Ｔ．ツムラ，N.フジワラの論文、an exper
imental system for processing movement information
of vehicle,Twenty-Eighth IEEE Vehicular Technolog
y Conference,Conference Record of Papers,第１６３
頁から第１６８頁、およびJon H.Myer の論文、A Vehic
ular Planimetric Dead-Reckoning Computer,IEEE Tran
sactions on Vehicular Technology,１９７１年，夏，
第２０巻，No.２，第62頁から６８頁、より公知であ
る。公知の方法においては、走行区間は、左右の車輪の
回転数の合計から求められ、走行角度は、左右の車輪の
回転数の差から求められる。その場合、特に走行角度を
測定する際、誤りが生じることが分つている。こうした
誤りは、各市街設置局間に大きな距離とか隔たりが現わ
れた場合、または、運転手が所定のルートからはずれて
その結果、比較的長い時間、一つの市街設置局に到着し
ない場合には、無視することはできない。車両に対して
独立な位置測定方式および運航方式の角度値の付加的な
誤りが原因となつて、運転手が所望の目標に確実かつ迅
速に達することができるような指示を運転手に与えるこ
とはもはや不可能となる。DETAILED DESCRIPTION Various methods and devices are already known for target tracking or location of land vehicles. DE-A-2925656 discloses, for example, a method for tracking or locating a vehicle in a highly meshed urban road network, using a substantially vehicle-independent method. Is listed. Information is exchanged between vehicles and urban installations at certain points in the road network. This information allows onboard calculators in the vehicle to make measurements of the vehicle's position and orientation. The continuous traveling distance and the continuous traveling direction are also obtained by detecting and evaluating the rotational state of the wheels. Methods and apparatus for measuring travel angle and travel length are described in T.W. Tsumura, N. Fujiwara's paper, an exper
imental system for processing movement information
of vehicle, Twenty-Eighth IEEE Vehicular Technolog
y Conference, Conference Record of Papers, No. 163
Pages 168 to 168, and Jon H. Myer, A Vehic
ular Planimetric Dead-Reckoning Computer, IEEE Tran
sactions on Vehicular Technology, 1971, summer,
It is known from Volume 20, No. 2, pages 62 to 68. In the known method, the traveling section is obtained from the total number of rotations of the left and right wheels, and the traveling angle is obtained from the difference between the number of rotations of the left and right wheels. In that case, it has been found that errors occur, especially when measuring the running angle. These mistakes can occur if there is a large distance or gap between each city station, or if the driver deviates from a given route and as a result does not arrive at one city station for a relatively long time. It cannot be ignored. To give the driver instructions to ensure that he can reach his desired goal reliably and quickly, due to the additional error in the angle values of the position-measuring method and the navigation method independent of the vehicle. Is no longer possible.
これに反し、請求の範囲第１項に記載の特徴を備えた本
発明による方法は、各市街設置局によつて同期化するこ
となしに、比較的長時間もしくは長距離走行する場合で
も位置測定の誤りが生じないという利点を有する。ま
た、各市街設置局が、比較的大きく隔つて設置されてい
てもかまわない点も有利である。また、比較的長い走行
の後でも位置測定の誤りが生じないことも別の利点とみ
なすことができる。さらに、位置測定に対する車両の速
度、横方向加速度の影響を無視できるという利点もあ
る。On the contrary, the method according to the invention with the features of claim 1 determines the position even when traveling for a relatively long time or a long distance without synchronization by each city station. Has the advantage that no error occurs. Further, it is also advantageous that the respective urban installation stations may be installed relatively far apart. It can also be considered as another advantage that an error in position measurement does not occur even after traveling for a relatively long time. Further, there is an advantage that influences of vehicle speed and lateral acceleration on the position measurement can be ignored.
次に本発明の実施例を図面を用いて詳しく説明する。Next, embodiments of the present invention will be described in detail with reference to the drawings.
第１図は、位置測定方式を説明するための図、第２図は
陸上車両用の位置測定方式の本発明による装置を示す図
である。FIG. 1 is a diagram for explaining a position measuring method, and FIG. 2 is a diagram showing an apparatus according to the present invention for a position measuring method for land vehicles.
プラニメーター方式の結合運航による陸上車両の位置測
定方法は、久しい以前から公知である。これに関して
は、冒頭で説明した従来技術を参照されたい。走行距離
および走行方向は、公知の方法では、有利には駆動され
ていない車軸の車輪の回転数もしくは回転状態を検出お
よび評価することにより求められる。この駆動されてい
ない車軸の各車輪に設けられたパルス発信器は、車輪の
回転ごとにパルスを発生する。これらのパルスは、位置
測定系によつて計数され、これらのパルスから、車両の
位置変化が計算される。例えば車両が第１図に示すよう
に場所１から場所２へ走行すると、走行区間ΔＳは、等
式 により求められる。この等式において、ＺＲは、右の車
輪から取出されるパルス数であり、ＺＬは左の車輪から
取出されるパルス数である。Ｚは、車輪および回転ごと
のパルス数を示し、Ｕによりタイヤの円周が表わされて
いる。走行角度は、等式 により計算される。この等式においては、もう１つの重
要な値として、車両のトレツドｂがある。The method of measuring the position of a land vehicle by the combined operation of the planimeter system has been known for a long time. In this regard, refer to the prior art mentioned at the beginning. The distance traveled and the direction of travel are determined in a known manner by detecting and evaluating the rotational speed or the rotational state of the wheels of the axle, which are preferably not driven. The pulse generator provided on each wheel of the axle that is not driven generates a pulse every time the wheel rotates. These pulses are counted by the position measuring system and from these pulses the change in position of the vehicle is calculated. For example, if the vehicle travels from location 1 to location 2 as shown in FIG. Required by. In this equation, Z R is the number of pulses taken from the right wheel and Z L is the number of pulses taken from the left wheel. Z represents the number of pulses for each wheel and rotation, and U represents the circumference of the tire. The driving angle is an equation Calculated by Another important value in this equation is the vehicle b b.
カーブ走行の場合には、第２の等式において一定と仮定
されたトレツドｂは、一定ではなくなる。なぜなら、車
両の各タイヤの接触面は、カーブ走行の場合に、走行速
度に依存して、相対的に互にずれるからである。それに
より、パルス数の差ＺR-ＺＬの誤りが生じ、その結果、
位置測定の誤りが生じる。こうした誤りは、求められた
走行角度を値Ｋで補正することにより除去できる。こ
の値Ｋは、通常０．５から２の範囲にあり、車両の速度
およびカーブの半径に依存する係数である。従つてこの
値は、車両に作用する横方向力に依存する。車両の速度
および車両のカーブ半径は、すでに求められている値に
よつて測定することができる。その際、測定されたパル
ス数の差ＺR-ＺＬは、カーブの半径に対して反比例する
が、測定されたパルス数の合計はカーブの半径に比例す
る。速度は、パルス数の合計と所定のパルス数の合計に
達するまでの走行時間によつて定められる。これらの値
から一定値Ｋを求めかつ走行角度の補正に用いることが
できる。In the case of a curve run, the tread b assumed to be constant in the second equation is no longer constant. This is because the contact surfaces of the tires of the vehicle are relatively deviated from each other depending on the traveling speed when traveling on a curve. This causes an error in the pulse number difference Z R -Z L , which results in
Positioning errors occur. Such an error can be eliminated by correcting the calculated traveling angle with the value K. This value K is usually in the range of 0.5 to 2 and is a coefficient that depends on the speed of the vehicle and the radius of the curve. This value therefore depends on the lateral forces acting on the vehicle. The speed of the vehicle and the curve radius of the vehicle can be measured by means of the values already determined. The difference Z R -Z L in the measured pulse numbers is then inversely proportional to the radius of the curve, whereas the total measured pulse number is proportional to the radius of the curve. The speed is defined by the total number of pulses and the running time until the predetermined total number of pulses is reached. A constant value K can be obtained from these values and used for correcting the traveling angle.
本発明では誤差補正を次のようにして行う。すなわち、
測定したパルス数の差を補正値で置換するのである。こ
の補正値は上に述べたように車両の速度とカーブの半径
に依存して選択する。車両速度はパルス数の合計とその
合計に達するまでに要した時間から計算される。また、
カーブ半径はパルス数の合計およびパルス数の差から求
められる。つまり、２つの車輪の回転数の合計、２つの
車輪の回転数の差、および車輪の回転が所定の数に達す
るまでに要した時間に基づいて補正値を求めるのであ
る。In the present invention, error correction is performed as follows. That is,
The difference in the measured number of pulses is replaced with the correction value. This correction value is selected depending on the vehicle speed and the radius of the curve as described above. The vehicle speed is calculated from the total number of pulses and the time taken to reach that total. Also,
The curve radius is obtained from the total number of pulses and the difference in the number of pulses. That is, the correction value is obtained based on the sum of the rotation speeds of the two wheels, the difference between the rotation speeds of the two wheels, and the time required for the wheel rotations to reach a predetermined number.
求められた補正値は、車両の型式に依存する。The calculated correction value depends on the type of vehicle.
第２図に、具体的な実施例を示す。この実施例において
は、簡単な方法で車両に固有の特性を考慮できる。図に
車両の駆動されない車軸４が略示されている。この車軸
の右の車輪にはリングギヤ３が、左の車輪にはリングギ
ヤ５が設けられている。リングギヤ３，５は、パルス発
信器６，７に作用する。パルス発信器６，７の信号は、
発信器評価回路８に供給される。この発信器評価回路に
ついては既述の従来技術において詳しく説明されてい
る。この発信器評価回路８は、信号をデイジタル信号に
変換する。このデイジタル信号は、計算装置１０により
容易に処理可能である。マイクロプロセツサとして構成
された計算装置１０は、母線９を介して発信器評価回路
８、プログラムＲＯＭ11，ＲＡＭ12，マトリクスＲＯＭ
１４およびタイマ１３に接続されている。FIG. 2 shows a concrete example. In this embodiment, vehicle-specific characteristics can be taken into account in a simple manner. The non-driven axle 4 of the vehicle is shown diagrammatically in the figure. The right wheel of this axle is provided with a ring gear 3, and the left wheel is provided with a ring gear 5. The ring gears 3 and 5 act on the pulse transmitters 6 and 7. The signals of pulse generators 6 and 7 are
It is supplied to the transmitter evaluation circuit 8. This oscillator evaluation circuit is described in detail in the above mentioned prior art. This oscillator evaluation circuit 8 converts the signal into a digital signal. This digital signal can be easily processed by the computing device 10. The computing device 10 configured as a microprocessor comprises a transmitter evaluation circuit 8, a program ROM 11, a RAM 12, a matrix ROM via a bus 9.
14 and timer 13.
パルス発信器６および７は、走行区間と走行方向を測定
するのに必要なパルスを供給する。これらのパルスは、
発信器評価回路８において処理される。その結果これら
のパルスは、マイクロプロセッサ１０により容易に処理
可能となる。マイクロプロセッサによる処理は、プログ
ラムＲＯＭ１１においてフアイルされたプログラムによ
つて行われる。ＲＡＭ１２は、これに関連して、デー
タ、例えば、マイクロプロセッサによつて計算された走
行方向と走行距離を記憶するために用いられる。走行方
向および走行距離は、その際、例えば、冒頭で述べた等
式により求められる。走行時間を測定するために、タイ
マ１３が用いられる。誤りの補正は、測定されたパルス
数の差Ｚ R−ＺL に代えて３次元補正マトリクスに含ま
れている値が用いられることにより行われる。この３次
元補正マトリクスは、マトリクスＲＯＭ１４にフアイル
されている。その都度のマトリクス要素は、２つの車輪
の間で測定されたパルス数の差、およびパルス数の合
計、およびそのパルス数の合計に達したことを検出する
のに要した時間に基づき選択される。この時間はタイマ
１３により計数される。The pulse transmitters 6 and 7 supply the pulses necessary for measuring the traveling section and the traveling direction. These pulses are
It is processed in the transmitter evaluation circuit 8. As a result, these pulses can be easily processed by the microprocessor 10. The processing by the microprocessor is performed by the program filed in the program ROM 11. The RAM 12 is used in this connection for storing data, for example the driving direction and the driving distance calculated by the microprocessor. The direction of travel and the distance traveled are then determined, for example, by the equations mentioned at the beginning. A timer 13 is used to measure the running time. The error correction is performed by using the value included in the three-dimensional correction matrix instead of the difference Z R -Z L of the measured pulse numbers. This three-dimensional correction matrix is stored in the matrix ROM 14. The respective matrix element is selected on the basis of the difference in the number of pulses measured between the two wheels and the total number of pulses and the time taken to detect that the total number of pulses has been reached. . This time is counted by the timer 13.
これら３つの値に依存して、相応のマトリクス要素が呼
出され、このマトリクス要素に値Ｋが割当てられる。今
や正確な走行角度が得られる。その際、はじめに計算さ
れた走行角度は、係数Ｋだけ補正される。一層有利に
は、この補正は、値ＺR−ＺLに代えて、マトリクスROM1
4から取出された新たな値を用いることにより行われ
る。Depending on these three values, the corresponding matrix element is called and the value K is assigned to this matrix element. Now you can get the correct running angle. At that time, the traveling angle calculated first is corrected by the coefficient K. The more advantageously, this correction, instead of the value Z R -Z L, matrix ROM1
This is done by using the new value taken from 4.
マトリクス要素は、経験的に走行試験において求められ
るか、または、車両、走行装置、及び車輪の種々の型式
に基づいて計算される。マトリクスＲＯＭを用いての誤
りの補正により、位置測定装置をすべての車両に用いる
ことが可能となる。種々の車両の型式においては、相応
の車両の型式に合わされたマトリクスＲＯＭを選定しさ
えすればよい。それにより位置測定の誤りを、走行速
度、およびカーブ走行の際の一定でないトレツドに依存
して補正することが可能となる。The matrix elements are empirically determined in driving tests or calculated on the basis of different types of vehicles, traction devices and wheels. The correction of errors using the matrix ROM makes it possible to use the position measuring device in all vehicles. For various vehicle types, it is only necessary to choose a matrix ROM which is adapted to the corresponding vehicle type. This makes it possible to correct the position measurement error depending on the traveling speed and the variability in the curve when traveling on a curve.
───────────────────────────────────────────────────── フロントページの続き (72)発明者 シユレ−クル・デイ−トマル ドイツ連邦共和国Ｄ−3226ジベゼ・ラン ゲ・ハルベ19 (56)参考文献 特開 昭51−53870（ＪＰ，Ａ) ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Schulekle Deutmar Federal Republic of Germany D-3226 Gibese Lange Harbe 19 (56) References JP-A-51-53870 (JP, A)
Claims (3)
２つの車輪の回転状態を検出および評価することにより
測定するようにした、プラニメータ方式の結合運航によ
る陸上車両の位置測定方法において、 所定の車両の走行方向を補正するために複数の補正係数
を設定し、該複数の補正係数から、前記２つの車輪の回
転数の合計、前記２つの車輪の回転数の差、および車輪
の回転数が所定数に達するまでに要した時間に基づい
て、１つの適当な補正係数を選択し； 測定した走行方向を前記適当な補正係数により補正する
ことによって、車両の実際の走行方向を検出することを
特徴とする、陸上車両の位置測定方法。1. A method for measuring the position of a land vehicle by combined operation of a planimeter system, wherein the traveling distance and the traveling direction are measured by detecting and evaluating the rotational states of two wheels of one axle. A plurality of correction factors are set to correct the traveling direction of the vehicle, and the total number of rotations of the two wheels, the difference between the number of rotations of the two wheels, and the number of rotations of the wheels are set from the plurality of correction factors. To select an appropriate correction coefficient based on the time required to reach a predetermined number; to detect the actual traveling direction of the vehicle by correcting the measured traveling direction with the appropriate correction coefficient. And a method for measuring the position of a land vehicle.
離および走行方向を測定するようにした陸上車両の位置
測定装置において、 １つの車軸（４）の２つの車輪の回転を検出するための
２つのパルス発信器（６、７）と、 該パルス発信器からの信号を評価するための発信器評価
回路（８）と、 当該評価した信号から走行距離および走行方向を計算す
るための計算装置（１０）と、 時間を計測するタイマ（１３）と、 複数の補正係数を記憶するための手段（１４）と、 前記２つの車輪の回転数の合計、前記２つの車輪の回転
数の差、および車輪の回転数が所定数に達するまでに要
した時間の３つのパラメータに基づいて、前記複数の補
正係数から１つの相応の補正係数を選択するための補正
手段とを有しており、 該補正手段により、測定した走行方向が前記選択した相
応の補正係数で補正される、ことを特徴とする、陸上車
両の位置測定装置。2. A position measuring device for a land vehicle, which measures a traveling distance and a traveling direction by combined operation of a planimeter system, and two pulses for detecting rotation of two wheels of one axle (4). A transmitter (6, 7), a transmitter evaluation circuit (8) for evaluating a signal from the pulse transmitter, and a calculation device (10) for calculating a traveling distance and a traveling direction from the evaluated signal. A timer (13) for measuring time, a means (14) for storing a plurality of correction factors, a sum of the rotational speeds of the two wheels, a difference between the rotational speeds of the two wheels, and a wheel A correction means for selecting one corresponding correction coefficient from the plurality of correction coefficients based on three parameters of the time required for the number of rotations to reach a predetermined number. , Measurement The position measuring device for a land vehicle, wherein the traveled direction is corrected by the selected correction coefficient.
Ｍを有しており、該ＲＯＭは前記計算装置（１０）と接
続されており、前記３つのパラメータに従い配置された
３次元マトリクスの補正係数を記憶している、請求の範
囲第２項記載の装置。3. The means (14) for storing is a RO
3. M according to claim 2, characterized in that it has an M, the ROM is connected to the computing device (10) and stores the correction coefficients of a three-dimensional matrix arranged according to the three parameters. apparatus.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19823241023 DE3241023A1 (en) | 1982-11-06 | 1982-11-06 | METHOD AND DEVICE FOR TARGETING AGRICULTURAL VEHICLES |
| DE3241023.9 | 1982-11-06 | ||
| PCT/DE1983/000177 WO1984001823A1 (en) | 1982-11-06 | 1983-10-21 | Method and device for guiding road vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59502153A JPS59502153A (en) | 1984-12-27 |
| JPH0621791B2 true JPH0621791B2 (en) | 1994-03-23 |
Family
ID=6177448
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58503421A Expired - Lifetime JPH0621791B2 (en) | 1982-11-06 | 1983-10-21 | Land vehicle position measuring method and device |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US4633407A (en) |
| EP (1) | EP0124544B1 (en) |
| JP (1) | JPH0621791B2 (en) |
| AT (1) | ATE25289T1 (en) |
| DE (2) | DE3241023A1 (en) |
| WO (1) | WO1984001823A1 (en) |
Families Citing this family (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8515942D0 (en) * | 1985-06-24 | 1985-07-24 | Scient Applied Research Sar | Vehicle navigating apparatus |
| US4788645A (en) * | 1986-03-21 | 1988-11-29 | Etak, Incorporated | Method and apparatus for measuring relative heading changes in a vehicular onboard navigation system |
| DE3715007A1 (en) * | 1987-05-06 | 1988-11-17 | Bosch Gmbh Robert | METHOD AND DEVICE FOR DETERMINING THE COURSE OF A LAND VEHICLE |
| JP2767315B2 (en) * | 1990-09-04 | 1998-06-18 | 株式会社ゼクセル | Vehicle relative heading detection method |
| FR2684213B1 (en) * | 1991-11-26 | 1998-12-31 | Renault | METHOD AND DEVICE FOR LOCATING A TERRESTRIAL VEHICLE BY COUPLING ESTIMATED NAVIGATION INFORMATION AND RADIO CAPTURED LOCATION INFORMATION. |
| US5394333A (en) * | 1991-12-23 | 1995-02-28 | Zexel Usa Corp. | Correcting GPS position in a hybrid naviation system |
| DE4230299B4 (en) * | 1992-09-10 | 2005-12-22 | Robert Bosch Gmbh | Method for locating a land vehicle |
| US9076331B2 (en) * | 2007-07-16 | 2015-07-07 | Crucs Holdings, Llc | System and method to monitor vehicles on a roadway and to control driving restrictions of vehicle drivers |
| US8868220B2 (en) * | 2007-07-16 | 2014-10-21 | Crucs Holdings, Llc | Systems and methods for automatically changing operational states of appliances |
| EP2450668B1 (en) | 2010-11-04 | 2014-01-15 | u-blox AG | A method for tracking the position and the heading of a vehicle using dead reckoning and a tracking device for carrying out the method |
| JP5591185B2 (en) * | 2011-06-08 | 2014-09-17 | 三菱電機株式会社 | Vehicle position and orientation measurement device |
| US10169822B2 (en) | 2011-12-02 | 2019-01-01 | Spireon, Inc. | Insurance rate optimization through driver behavior monitoring |
| US8510200B2 (en) | 2011-12-02 | 2013-08-13 | Spireon, Inc. | Geospatial data based assessment of driver behavior |
| US9779379B2 (en) | 2012-11-05 | 2017-10-03 | Spireon, Inc. | Container verification through an electrical receptacle and plug associated with a container and a transport vehicle of an intermodal freight transport system |
| US9779449B2 (en) | 2013-08-30 | 2017-10-03 | Spireon, Inc. | Veracity determination through comparison of a geospatial location of a vehicle with a provided data |
| US20150186991A1 (en) | 2013-12-31 | 2015-07-02 | David M. Meyer | Creditor alert when a vehicle enters an impound lot |
| US9366540B2 (en) | 2014-10-23 | 2016-06-14 | At&T Mobility Ii Llc | Facilitating location determination employing vehicle motion data |
| US9551788B2 (en) | 2015-03-24 | 2017-01-24 | Jim Epler | Fleet pan to provide measurement and location of a stored transport item while maximizing space in an interior cavity of a trailer |
| JP2016122022A (en) * | 2016-04-07 | 2016-07-07 | パイオニア株式会社 | Determination device, determination method, determination program, and recording medium |
| US11299219B2 (en) | 2018-08-20 | 2022-04-12 | Spireon, Inc. | Distributed volumetric cargo sensor system |
| US11475680B2 (en) | 2018-12-12 | 2022-10-18 | Spireon, Inc. | Cargo sensor system implemented using neural network |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5153870A (en) * | 1974-11-06 | 1976-05-12 | Toshihiro Tsumura | Idobutsutaino idokeirokirokuhoshiki |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IT988603B (en) * | 1972-03-08 | 1975-04-30 | Krupp Gmbh | DEVICE FOR DETERMINING THE POSITION OF A VEHICLE |
| US4084241A (en) * | 1974-10-19 | 1978-04-11 | Toshihiro Tsumura | System for processing movement information of vehicle |
| US4032758A (en) * | 1975-11-05 | 1977-06-28 | The Boeing Company | Compensated vehicle heading system |
| US4055750A (en) * | 1976-06-07 | 1977-10-25 | Rca Corporation | Heading sensor for vehicle dead reckoning system |
| US4031630A (en) * | 1976-06-17 | 1977-06-28 | The Laitram Corporation | Calibration apparatus for automatic magnetic compass correction |
| FR2477740A1 (en) * | 1980-03-06 | 1981-09-11 | Bernard Patrice | SYSTEM FOR LOCATING A VEHICLE |
-
1982
- 1982-11-06 DE DE19823241023 patent/DE3241023A1/en not_active Withdrawn
-
1983
- 1983-10-21 AT AT83903294T patent/ATE25289T1/en not_active IP Right Cessation
- 1983-10-21 WO PCT/DE1983/000177 patent/WO1984001823A1/en not_active Ceased
- 1983-10-21 JP JP58503421A patent/JPH0621791B2/en not_active Expired - Lifetime
- 1983-10-21 EP EP83903294A patent/EP0124544B1/en not_active Expired
- 1983-10-21 US US06/616,230 patent/US4633407A/en not_active Expired - Lifetime
- 1983-10-21 DE DE8383903294T patent/DE3369559D1/en not_active Expired
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5153870A (en) * | 1974-11-06 | 1976-05-12 | Toshihiro Tsumura | Idobutsutaino idokeirokirokuhoshiki |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS59502153A (en) | 1984-12-27 |
| ATE25289T1 (en) | 1987-02-15 |
| US4633407A (en) | 1986-12-30 |
| EP0124544A1 (en) | 1984-11-14 |
| EP0124544B1 (en) | 1987-01-28 |
| DE3241023A1 (en) | 1984-05-10 |
| WO1984001823A1 (en) | 1984-05-10 |
| DE3369559D1 (en) | 1987-03-05 |
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